custom player collision system

[vale needle]

i made a custom movement and gravity system but
i cant think of a way to remove the speed of the player on the gravity axis when on ground (the gravity axis/(vector direction of gravity) might change in this game
i tried a ton of different methods but i cant find one that isint jittery or laggy
heres an example video of this gravity system
https://youtu.be/HkgRmVvgDCU
right now im using a part for collision, but i dont like how little customization it offers and how it makes stairs impossible to walk on without invisible slopes

i will paste my current ground handling function and give some more explanations under this cuz the rest would surpass the word limit

    if not OnGround.Value then return end
     
    local sped = char.HumanoidRootPart.AssemblyLinearVelocity
    
--acv is a table containing a bunch of charachter related variables
  --gravity3 is the current gravity  vector
       --so by getting the unit of gravity3 we get the direction of gravity
        
     if sped:Dot(-acv.Gravity3.Value.Unit) > 1 then return end --if moving up then returns
    
  --raycasthit variables are constantly updated because they are needed for other scripts,
    -- the raycast is 3 studs from the center of the torso of the character in the direction of gravity
  
    local normal = raycastHitNormal.Value
   
     --acv charheight is the current hieght of the character
  
    local targetPos = raycastHitPosition.Value + normal.Unit * (acv.CharHeight.Value) 
     
    local currentPos = mainColliderPart.Position
    local offset = targetPos - currentPos
      
     char:MoveTo(currentPos + offset) --im using the moveto function of the character model cuz changing the position of hrp or torso breaks everything for whatever reason
   --also i heard this ^ function is faster to run 
      
       -- Here im tryng to negate gravity when on the ground (unsuccesfully)
     char.HumanoidRootPart.AssemblyLinearVelocity = char.HumanoidRootPart.AssemblyLinearVelocity + ((-acv.Gravity3.Value.Unit) * sped:Dot(acv.Gravity3.Value.Unit))
     
     -- print(sped:Dot(acv.Gravity3.Value.Unit))
    --  print(sped.Y)
end```
The problem with this is that when i run it on .Stepped it jitters and when i run it on heartbeat it constantly teleports the player back every frame slowing them down, (with no jittering tho)
also in both scenarios it absolutley despises slopes for whatever reason

[shadow totem]

add more friction to the ground

[vale needle]

elaborate?

[vale needle]

there is no friction being applied here?

[shadow totem]

well

if the ground had more friction than normal

itd slow them down

[vale needle]

whats that supposed to fix? also what are you referring to? cuz the script i provided dosent handle any friction logic?

are you saying i should make the friction of the collision part im using in my baind aid fix ? but i already mentioned the main problem with that is customization and steps, how would more friction help with any of that?

sorry i don't quite get what you mean

[shadow totem]

well what exactly do you want to happen on the ground

when they touch it?